|本期目录/Table of Contents|

[1]田 悦,袁德成.基于多策略改进狼群算法的机械臂路径规划[J].工业仪表与自动化装置,2023,(05):76-82+97.[doi:10.19950/j.cnki.cn61-1121/th.2023.05.016]
　TIAN Yue,YUAN Decheng.Robot path planning based on multi strategy improved wolf pack algorithm[J].Industrial Instrumentation & Automation,2023,(05):76-82+97.[doi:10.19950/j.cnki.cn61-1121/th.2023.05.016]
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基于多策略改进狼群算法的机械臂路径规划

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2023年05期
页码:
76-82+97
栏目:
出版日期:
2023-10-15

文章信息/Info

Title:
Robot path planning based on multi strategy improved wolf pack algorithm
文章编号:
1000-0682（2023）05-0076-07
作者:
田 悦; 袁德成
沈阳化工大学，辽宁 沈阳110142
Author(s):
TIAN Yue; YUAN Decheng
Shenyang University of Chemical Technology，Liaoning Shenyang 110142，China
关键词:
机械臂; 路径规划; 改进狼群算法; 自适应步长; 莱维飞行策略; 鲸鱼变螺旋围攻机制
Keywords:
underwater mechanical arm;  path planning;  multi-strategy improved WPA;  adaptive step-size;  levy flight;  whale spiral siege mechanism
分类号:
TP242
DOI:
10.19950/j.cnki.cn61-1121/th.2023.05.016
文献标志码:
A
摘要:
针对水下机械臂路径规划中基本狼群算法(wolf pack algorithm, WPA)收敛速度过慢，易陷入局部最优的问题，提出了一种基于多策略改进WPA的水下机械臂三维路径规划算法。该文采用混沌映射的Tent初始化方法改善了初始种群的均匀与遍历特性；对传统WPA算法中的游走、召唤行为的固定步长进行自适应化改进；游走阶段加入莱维飞行策略调整游走范围，提高全局寻优能力; 围攻阶段采用鲸鱼变螺旋围攻机制，以提升局部搜寻能力和寻优精度；最后针对同一三维场景分别运用传统WPA算法以及多策略改进WPA算法进行三维路径规划仿真实验。实验证明，在进行三维路径规划问题的求解时，改进后的WPA算法在收敛速度和全局搜索能力上有更好的表现。
Abstract:
In order to solve the problem that the traditional wolf pack algorithm (WPA) in underwater mechanical arm path planning had slow convergence speed and easily falls into local optima, a kind of three-dimensional path planning algorithm for underwater mechanical arm based on multi-strategy improved WPA was put forward. Initialization method of Tent chaotic map was adopted in this thesis to strengthen uniformity and ergodicity of initial population and make adaptive improvement for the fixed-step of random walk and calling behavior in traditional WPA. Levy flight strategy was added in random walk stage to adjust walking scope and improve global optimization capability. Whale varying spiral siege mechanism was used in siege stage to enhance the local searching ability of algorithm and the accuracy of optimization. Finally, traditional WPA and multi-strategy improved WPA were respectively applied in the same three-dimensional scene to conduct simulation experiment for three-dimensional path planning. The result suggests that improved WPA has better performance in terms of convergence speed and global s searching ability when solving three-dimensional path planning issues.

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备注/Memo

备注/Memo:
收稿日期：2023-04-21
第一作者：
田悦（1998—），女，硕士，学生，主要研究方向为水下机器人。
更新日期/Last Update: 1900-01-01